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CN107209989A - Wagon control based on mass-rent data - Google Patents

Wagon control based on mass-rent data Download PDF

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Publication number
CN107209989A
CN107209989A CN201680008940.2A CN201680008940A CN107209989A CN 107209989 A CN107209989 A CN 107209989A CN 201680008940 A CN201680008940 A CN 201680008940A CN 107209989 A CN107209989 A CN 107209989A
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CN
China
Prior art keywords
vehicle
data
mass
rent
server
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201680008940.2A
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Chinese (zh)
Inventor
卞祯焄
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Individual
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Individual
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Filing date
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Publication of CN107209989A publication Critical patent/CN107209989A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/20—Services signaling; Auxiliary data signalling, i.e. transmitting data via a non-traffic channel
    • H04W4/21—Services signaling; Auxiliary data signalling, i.e. transmitting data via a non-traffic channel for social networking applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B60W10/113—Stepped gearings with two input flow paths, e.g. double clutch transmission selection of one of the torque flow paths by the corresponding input clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The form of the disclosure is related to the method that vehicle is controlled typically based on mass-rent data.According to this method, vehicle is asked to server transmitting path, respond the path request, receive navigation information, based on the navigation information of the transmission, control the operating of vehicle, in way is run according to the navigation information of the transmission, vehicle operation data is collected, collected data are sent to the server, the mass-rent data of generation are received, based on the mass-rent data of the reception, the navigation information of the transmission is updated, based on the navigation information of the renewal, the operating of the vehicle is controlled.

Description

Wagon control based on mass-rent data
Technical field
The invention solves the problems that problem be to provide a kind of vehicle being controlled based on mass-rent data, based on mass-rent data Control the method and server of vehicle.
Background technology
Modern vehicle often possesses navigation firmly when driving to another location from a position in order to aid in user Part or software.User can input destination, and navigational hardware or software provide for homeposition to the one of destination locations Path more than bar.Conventional routing information includes homeposition to the distance of destination locations.Sometimes, routing information include with away from From with based on speed, the presumed value the time required to driving to destination locations from current location.User can with distance and Path is selected based on the time of presumption.Navigational hardware or software are determined to the road of destination based on the selection of user Footpath.
On the other hand, for the control of autonomous driving vehicle, it is possible to use various technology.A part of system includes being used for The datum line of reversing vehicle, on the other hand, a part of system can possess the pre-defined path programmed in vehicle.At one Divide in embodiment, autonomous driving vehicle can be connected with track for directing purposes.Other autonomous driving vehicles can be borrowed Help computer to be controlled, based on the information stored in computer, along route.
The navigational hardware or software of autonomous driving vehicle can be programmed new routing information., can be with vehicle Based on map or based on GPS (global position system) signal, new path is provided.It is a part of autonomous Driving vehicle can traditional vehicle with being controlled by the mankind similarly operate under the non-autonomous driving mode that runs.But, When vehicle is run under autonomous driving mode, more accurate positional information when may require that than being run by human driver.
The content of the invention
Technical scheme
In a part of embodiment, the method for vehicle is controlled to include based on mass-rent data：The vehicle is to server The step of transmission covers the request in destination path；The server retrieves the step with the corresponding navigation information of the request Suddenly, wherein, the navigation information is autonomous traveling navigation information；The navigation information of the retrieval is sent to institute by the server The step of stating vehicle；The step of vehicle controls the operating of the vehicle based on the navigation information of the transmission；It is described The step of vehicle collects the service data of the vehicle during being run according to the navigation information of the transmission；The vehicle The step of collected data are sent to the server；The server with from multiple vehicles send it is collected The step of mass-rent data being generated based on data；The vehicle receives the step of the mass-rent data of the generation from the server Suddenly；The vehicle is based on the mass-rent data of the reception, the step of updating the navigation information of the transmission；And the vehicle The step of operating of the vehicle is controlled based on the navigation information of the renewal.
In a part of embodiment, vehicle includes：Communication unit, it will be sent to service to the request to destination path Device, the navigation information retrieved according to the request is received from the server；Sensor, it generates sensing data；And control Portion, it is controlled the operating of the vehicle, entered in the navigation information according to the reception based on the navigation information of the reception In row operation way, using sensing data described in the sensor collection, fortune is generated based on collected sensing data Row data, the server is sent to by the service data of the generation, is received mass-rent data from the server, is connect with described Based on the mass-rent data of receipts, the navigation information of the reception is updated, based on the navigation information of the renewal, control is described The operating of vehicle.
In a part of embodiment, server includes：Communication unit, it is from path request of the vehicle receiver to destination；Deposit Storage portion, its store path information；And control unit, it is retrieved navigation information according to the request of the reception, sent to the vehicle The navigation information of the retrieval, receives the data collected from multiple vehicles including the vehicle, combines from the multiple vehicle The data received respectively, extract the data based on path corresponding with the path of the vehicle, utilize the base of the extraction Data in path, generate mass-rent data, the mass-rent data of the generation are sent into the vehicle.
The particular content of more than one embodiment is described in accompanying drawing and following records.Other features, form and Potential advantage will be obtained clearly from following records and accompanying drawing and claim.
Brief description of the drawings
Fig. 1 is according to more than one embodiment, it is illustrated that control car based on the mass-rent data collected by means of vehicle Environment.
Fig. 2 is the flow of one embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
Fig. 3 is the flow of another embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
Fig. 4 is the flow of another embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
Fig. 5 is according to more than one embodiment, it is illustrated that the concept map of the concept component figure of overlapping mass-rent data.
Fig. 6 is the pie graph for the vehicle for illustrating more than one embodiment.
Fig. 7 is according to more than one embodiment, it is illustrated that ECU (the Electronic Control Unit, electricity of built-in vehicle Sub-control unit) pie graph.
Fig. 8 is the pie graph that server is illustrated according to more than one embodiment.
Fig. 9 is according to more than one embodiment, it is illustrated that control car based on the mass-rent data collected by means of vehicle System pie graph.
The accompanying drawing is arranged according at least a portion embodiment of the disclosure.
Embodiment
Following disclosures provide many embodiments and example for being used for embodying different feature of the invention.Specific composition will Element or the example of arrangement are described below for the feature of the simple and direct performance present invention.Example is not intended to limit.
In following detailed description, it have references to form part thereof of accompanying drawing.In the drawings as long as no other note Carry, similar reference marks, which is represented, is similarly comprised key element.N-lustrative described in detailed description, accompanying drawing and claim is real Apply example and be not intended to restriction., both can be using separately while the thought or scope for the theme pointed out in without departing from this specification One embodiment, can also apply different change.The disclosure that is typically being recorded in such as this specification and illustrating in the accompanying drawings Form, it can be understood as can all taking explicitly into account in this manual, various differently composed middle arrangement, substitute, combination, Separation, design.
Method, vehicle and server described in this specification are related in general to the mass-rent data from different vehicle Based on vehicle control.In a part of embodiment, method, vehicle and server described in this specification are related to independently The control of vehicle under driving mode.
Fig. 1 is according to more than one embodiment, it is illustrated that control car based on the mass-rent data collected by means of vehicle Environment.
In the exemplary embodiment, based on mass-rent autonomous driving vehicle control environment 100 possess multiple vehicles 101,102, 103rd, radio node 201,202 and server 300.Radio node 201 or 202 possesses transmitter and receiver.Vehicle 101, 102nd, 103 are configured the autonomous traveling of the execution based on the navigation information received from server 300, and vehicle 101,102,103 has The standby sensor for collecting service data, possesses the communication unit for being configured and being communicated by wireless network with radio node 201 or 202 (not shown).Radio node 201 or 202 is configured sends data between vehicle 101,102,103 and server 300. Server 300 be configured analysis through radio node 201 or 202 from vehicle 101,102,103 send data or directly from The data of vehicle 101,102,103.
In a part of embodiment, vehicle 101,102,103 possesses the sensor for being configured detection service data respectively.Fortune Line number is according to this based on the action or order of driver.For example, when the action of driver includes acceleration, braking or deflecting roller rotation At least one of between, and acceleration, braking or deflecting roller rotation amount.Navigation information can be stored in vehicle storage device, database or Thus internet simultaneously imports.In a part of embodiment, navigation information through radio node 201,202, such as Cellular Networks, On 802.11 networks or WWAN (Wireless Wide Area Network, wireless wide area network) network, wirelessly, borrow Help server 300 or directly received from vehicle.Service data is sent to clothes by vehicle through radio node 201 or 202, or directly Business device 300.Service data includes braking-distance figures, accelerates data, turns at least one of data.In a part of embodiment, car 101,102,103 respectively according to the set cycle, or when vehicle detects event during being run to destination, with service Device 300 communicates.In a part of embodiment, vehicle 101,102,103 possesses the department of computer science for providing data processing respectively System.
In a part of embodiment, the autonomous operation of vehicle 101,102,103 is by means of MDPS (Motor Driven Power Steering, motor driving electric power steering) system and perform.MDPS(Motor Driven Power Steering, motor driving electric power steering) system is not utilize hydraulic pressure, but utilize and aid in turning from the power of motor Steering is driven to the motor of power.MDPS system configurations are in vehicle.MDPS possesses decelerator.Decelerator possesses in order to auxiliary The worm shaft for helping steering force and being rotated by means of motor/worm screw wheel.Decelerator is also equipped with driving with the motor for pitching motor Dynamic array apparatus.Decelerator is also equipped with flexible motor in order to embody flexion-extension and stretching motion.MDPS motors are by MDPS Electronic Controls Unit (ECU) is controlled.
In a part of embodiment, the driver of vehicle is configured by software application access to be controlled based on mass-rent The server of vehicle processed.In a part of embodiment, the software application is can be independently of hardware system discussed below Website or WEB application program.In a part of embodiment, the software application is partly by means of the hardware of built-in vehicle System and constitute.The disclosure is write on the basis of built-in vehicle device, it is to be understood that in a part of embodiment, Certain computing device can be used, to provide various embodiment disclosed in this specification.
In a part of embodiment, the driver that vehicle measurement is carried out by vehicle driver is taken action, and the action to measurement is entered Row storage.This action is resolved, to predict the movement of vehicle driver under more than one running situation.Described is pre- The semi-autonomous or autonomous traveling for generating vehicle is surveyed to control.In addition, in order to the application of wider scope is provided and to multiple vehicles The action of driver be combined.
In a part of embodiment, path data is collected from different vehicle, aids in the autonomous operation of vehicle.Hardware system (example：Computing device 700 shown in Fig. 7) it is configured storage steering, acceleration, braking in the memory storage apparatus of hardware system Data, now, the data of storage make vehicle autonomous operation.Furthermore, embodiment includes built-in software logic, described soft Part logical constitution must surmount in (override) autonomous driving system.It is this to surmount operating for safety, when Data Labels by It is triggered when the sensor of connection communicates, path data is resynchronized to runtime immediately.
The detailed composition of other vehicles 101,102,103 of a part of embodiment will below be chatted with reference to following accompanying drawings State.In a part of embodiment, radio node 201 or 202 is satellite, terrestrial relay station, GPS (Global Positioning System, global positioning system), at least one of signal repeater and cellular signal repeater.The radio node was according to both Fixed cycle or when radio node receives set event from least one in vehicle, with server 300 or vehicle communication.Example Such as, the starting signal of the set event signal including vehicle and vehicle arrive at signal.
In a part of embodiment, server 300 is cloud computing server.Server 300 is held in a part of embodiment The function of the calculating of row such as data analysis.In a part of embodiment, server 300 concentrates on center.In part implementation In example, vehicle is through radio node, in (the example of network 400：Internet) on to (the example of server 300：Navigation server) send operation Data.In a part of embodiment, vehicle 101,102,103 passes through honeycomb (or Wi-Fi) radio node (or WAP) 201st, 202 and access network 400.In a part of aspect, the service data collected by means of vehicle 101,102,103 is used In occurring mass-rent data, for use in control vehicle.In a part of embodiment, server 300 is collected from multiple vehicles and run Data, make transport information associated with path state information.Service data is collected by position and based on the time, constituted.Service Mass-rent data occur also based on the service data of collection for device 300.
Fig. 2 is the flow of an embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
In step s 201, vehicle (example：Vehicle 101,102 or 103 shown in Fig. 1 is by the request to destination path It is sent to server (example：Server 300 shown in Fig. 3).Server is asked from vehicle receiver.In a part of embodiment, it should ask Ask driver's input by vehicle.Vehicle receives the input to the destination from driver.Vehicle is configured by means of data Input unit and the interface towards driver is provided.In a part of embodiment, the interface is touch-screen.In a part of embodiment In, the request is occurred automatically by vehicle.Vehicle determines destination based on the traveling daily record of vehicle storage.On the other hand, car It is connected to server through at least one of Cellular Networks, Wi-Fi network and satellite network.The request is through Cellular Networks, Wi-Fi network And at least one of satellite network is sent.In a part of embodiment, the request sends or is transmitted directly to through radio node Server.
In step S202, server retrieves the navigation information for including institute's request path.The navigation information is to include vehicle The autonomous traveling navigation information of control information.In a part of embodiment, the navigation information is stored in server, or works as from vehicle When transmitting path is asked.In a part of embodiment, the navigation information includes control on deflecting roller rotation, acceleration and made The content of dynamic information.
In step S203, the navigation information of retrieval is sent to vehicle by server.Vehicle receives retrieval from server Navigation information.In a part of embodiment, the navigation information of the retrieval through in Cellular Networks, Wi-Fi network and satellite network extremely Few one is sent.In a part of embodiment, the navigation information of the retrieval sends or is transmitted directly to vehicle through radio node.
In step S204, the operating of vehicle is controlled based on the navigation information sent.In part implementation In example, based on the navigation system of transmission, using MDPS, (Motor Driven Power Steering, motor driving is electronic Power-assisted steering) and EHPS (electro-hydraulic power steering) control vehicle, the MDPS use without using The electromotor of hydraulic pressure, the EHPS is not using being but the electricity operated by means of motor by means of engine drive power Air pump.In a part of embodiment, MDPS is combined with EHPS.In a part of embodiment, MDPS and EHPS perform complementary work( Can, in order to ensure stability, assisted diversion power is provided in emergency turn failure.In this example, vehicle possess MDPS and EHPS, the MDPS assisted diversion power using the torque of main motor, the EHPS is using the operating by means of hydraulic pump The hydraulic pressure of generation carrys out assisted diversion power.MDPS is used as main transfer, EHPS in order in urgent motor failure, Or in the case of heavy vehicle, used to be aided in not enough steering power as assistant steering device.In order to Autonomous control, MDPS and EHPS motor are controlled by means of ECU (Electronic Control Unit, electronic control unit) System.In this example, control is performed based on the information for controlling to include in navigation information.The acceleration and braking reference of vehicle The control of the information included in navigation information, is controlled also by way of ECU.According to a part of embodiment, according to navigation information The detailed composition of the vehicle of control is described in the figure 7.
In step S205, during travelling, vehicle is collected according to the navigation information of transmission and travels operating on vehicle Data.The data for travelling operating on vehicle include service data.In a part of embodiment, the mobile data of driver includes Information at least one of steering, acceleration and braking.In a part of embodiment, vehicle according to the set cycle, Data are collected during being run to destination.In another embodiment, vehicle to destination in way is run, when vehicle detection to thing During part, data are collected in way is run to destination.The event is to define based on the data of the event of detection or to sense Detected based on data.
In a part of embodiment, sensing data occurs for multiple sensors that vehicle possesses using vehicle.In a part In embodiment, these sensors possess range sensor, infrared ray sensor, pressure to easily play related functionality Sensor, velocity sensor, movable sensor, optical sensor, Proximity Sensor, GNSS (Global Navigation Satellite System, GLONASS) (example：Gps receiver), temperature sensor, biology sensor or other At least one of sensing device.Vehicle collects the sensing data occurred, is collected based on the sensing data of collection Data.
In a part of embodiment, these sensors send to operation control unit and passed through wireless network or cable network Feel data.CAN (Controller Area Network, controller LAN), LAN are used to send sensing data (Local Area Network, LAN) or serial network.
In a part of embodiment, at least one of the multiple sensor middle detection letter in vehicle operation way Signal lamp, vehicle is stopped in the red light of the signal lamp of the detection.Vehicle utilizes what is detected to control car speed Signal information.In a part of embodiment, stop signal/stopping light attribute information is sent to vehicle by server.At one Divide in embodiment, vehicle receives stop signal/stopping light attribute information on geographic area from server and is used as navigation letter Stop signal/stopping light attribute information is sent to the vehicle for autonomous control by breath, server.
In step S206, the data of collection are sent to server by vehicle.The data that server is collected from vehicle receiver. In a part of embodiment, the data of the collection are sent out through at least one of Cellular Networks, Wi-Fi network and satellite network Send.In a part of embodiment, the data of collection send or are transmitted directly to server through radio node.In a part of embodiment In, vehicle sends the data collected according to the set cycle.In another embodiment, vehicle works as hair in way is travelled to destination During existing event, the data collected are sent.The event is examined by defining based on the data of the event of detection from sensing data Survey.
In step S207, based on the collection data sent from multiple vehicles mass-rent data occur for server.In hair Before raw mass-rent data, server receives the data collected from vehicle.The data that server by utilizing is received, occur mass-rent data. In a part of embodiment, in the data of vehicle are come from, collection number corresponding with duplicate paths occurs for mass-rent Data duplication According to.Referring to Fig. 3, the detailed description of the duplicate message of a part of embodiment is described.
In step S208, server updates the navigation information of storage based on mass-rent data, and the navigation of renewal is believed Breath is sent to vehicle.In a part of embodiment, server updates when mass-rent data are accumulated over critical quantity and sends navigation Information.In step S209, vehicle receives mass-rent data from server.In a part of embodiment, the data through Cellular Networks, At least one of Wi-Fi network and satellite network are sent.In a part of embodiment, the data are sent or straight through radio node Server is given in sending and receiving.
In a part of embodiment, the navigation information of renewal is sent to vehicle by server, and vehicle is received more from server New navigation information.In a part of embodiment, the navigation information (example that server process updates：Filtering, remove noise, it is smooth Change, vectorization), the navigation information of processing is then sent to vehicle.
In step S210, vehicle updates navigation information based on the external data received.Mass-rent of the vehicle to reception Data and the data collected are combined, based on the data of combination, update navigation information., should in a part of embodiment Update and performed according to the set cycle.
In step S211, vehicle controls the operating of vehicle based on the navigation information updated.Using navigation information as In the operation way of basis, when vehicle detection is to during the particular event pre-set, the operational mode of vehicle is changed to drive by vehicle Member's control model.The particular event pre-set is for example including unregistered event in vehicle.The event pre-set with Definition is detected based on the data of the event of detection from sensing data.The control of vehicle include vehicle speed control and At least one of steered wheel angle control of vehicle.
Fig. 3 is the flow of another embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
Method shown in Fig. 3 is performed during vehicle is independently travelled.In a part of embodiment, in Fig. 2 step S204 Or in step S211, vehicle (example：Vehicle 101 shown in Fig. 1,102 or ECU 103) are configured the method according to Fig. 3, to pass Feel based on data, surmount autonomous vehicle traveling.
In step S301, autonomous traveling is performed.During autonomous traveling, vehicle (example：Vehicle 101 shown in Fig. 1,102 or 103) As shown in Fig. 2 being controlled based on mass-rent data, sensing data and/or navigation information.In a part of embodiment, In autonomous traveling, the deflecting roller of vehicle, accelerator, brake autonomous control.
In step s 302, vehicle perceives the neighboring area of vehicle in vehicle operation way.In a part of embodiment, Multiple sensors that vehicle possesses using vehicle, occur the sensing data to vehicle-surroundings region.These sensors include distance At least a portion in sensor, infrared ray sensor, pressure sensor and velocity sensor.
In step S303, vehicle detecting event based on sensing data.The event includes detecting barrier in the paths Hinder at least one in thing, the collision from outside vehicle, the collision from inner side vehicle, the vibration of vehicle and the fluctuating of vehicle Person.The event is detected based on the matching result between event data and sensing data.The data of the event will be defined It is stored in vehicle or sensor.In a part of embodiment, when the sensing data amount of event is more than set critical quantity, vehicle inspection Survey the event.
In step s 304, whether the vehicle inspection event is to surmount the event that vehicle is independently travelled.In part implementation In example, surmount vehicle and independently travel the relevant information of event and be stored in vehicle, vehicle compares the information and sensing data of storage, held Row verification.In a part of embodiment, when the sensing data amount of event is more than set critical quantity, vehicle decides whether to surmount certainly Main traveling.In a part of embodiment, when being more than set critical period during the sensing of event, vehicle decides whether to surmount Autonomous traveling.If vehicle determines that surmounting vehicle independently travels, and is operated by step S305.If vehicle determine not past Vehicle is independently travelled, then is operated by step S301.
If vehicle determines that surmounting vehicle independently travels, in step S305, vehicle interrupts autonomous traveling.In a part In embodiment, vehicle is before autonomous traveling is interrupted, to vehicle driver's output notice.In a part of embodiment, fortune is being interrupted After turning, vehicle is performed based on navigation information and set is hidden operating (evasive action).In a part of embodiment In, set operating of hiding includes at least one of braking, acceleration and convolution.
Perform this it is set hide operating after, in step S306, vehicle returns to autonomous traveling.In part implementation In example, autonomous traveling re-synchronization with reference to vehicle position data and navigation information.On the other hand, vehicle is being determined as step The event of S304 detections is not configured when surmounting event that vehicle is independently travelled, and vehicle continues executing with autonomous traveling S301.
In step S307, whether vehicle detection vehicle reaches the destination.Vehicle utilizes navigation information and step S307 Current vehicle position.If vehicle determines to arrive at, autonomous traveling terminates.If vehicle is determined as being not detected by and arrived at, car Continue executing with autonomous traveling S301.In a part of embodiment, if vehicle detection to current vehicle position and destination it Between distance be less than critical distance, then vehicle output notice.The notice includes notifying the message of set information to show to vehicle driver Show, alarm ring, at least one of vibration etc..
Fig. 4 is the flow of another embodiment of process of the diagram to control vehicle based on the mass-rent data for coming from vehicle Figure.
In a part of embodiment, vehicle is before autonomous traveling is performed, in a part of embodiment, the step of Fig. 2 Between S201 and step S204, the ECU of vehicle performs the operating in advance (pre-operation) needed for autonomous traveling.Retouch below State each step operated in advance.
In step S401, vehicle receives destination from vehicle driver.For another embodiment, the request by vehicle from It is dynamic to occur.Vehicle determines destination based on the traveling daily record stored in vehicle.
In step S402, vehicle detection current location.In a part of embodiment, vehicle possesses decision or tracking vehicle Sensor, software and/or hardware needed for position.In a part of embodiment, vehicle possesses needed for decision vehicle location GNSS receiver.Vehicle from more than one GNSS satellite 106 receive satellite-signal, according to known methods, using satellite-signal as Basis, determines the position of vehicle.Vehicle possesses reception, send honeycomb and/or honeycomb and/or Wi-Fi needed for Wi-Fi signal are received Send out device.The transmission honeycomb or the honeycomb or Wi-Fi of Wi-Fi signal that honeycomb and/or Wi-Fi signal can be used for informing wirelessly are saved Based on the position of point, the position of vehicle is determined.In a part of embodiment, vehicle in order to using honeycomb and/or Wi-Fi signal as Basis determines vehicle location, is equalized using triangulation or position.
In step S403, vehicle receives navigation information from server.Navigation information includes vehicle independently number needed for traveling According to.In a part of embodiment, data are the mass-rent data for controlling vehicle.In a part of embodiment, the navigation information Sent through at least one of Cellular Networks, Wi-Fi network and satellite network.In a part of embodiment, the navigation information is through nothing Line node is sent, or is transmitted directly to vehicle.
In step s 404, when the mass-rent data bulk related to current location detected is less than critical quantity, ECU will Automobile navigation or the other positions for being directed to the mass-rent data correlation with being more than critical quantity.The other positions are determined as departure place Point.In a part of embodiment, the other positions are the position middle-range current vehicle positions with more than critical quantity mass-rent data Nearest position.
In a part of embodiment, server has such as database the proximal most position of navigation information or mass-rent data Information is sent to vehicle.In this embodiment, nearest place is now shown to driver by vehicle, then, in order to the display Position operation, driver makes vehicle operation manually.In this embodiment, if server or vehicle detection are in tool to vehicle There is the position of suitable data or suitable incremental data, then perform the autonomous control of vehicle.
In step S405, vehicle is controlled as described in Fig. 2 step S204 based on navigation information System.In a part of embodiment, deflecting roller, accelerator and the brake of vehicle are independently travelled and autonomous control for vehicle.
In step S406, vehicle determines whether path changes.In a part of embodiment, when vehicle is different from by leading When being run on the path in the path that boat information is determined, the change in vehicle detection path.
In step S 407, when the change of vehicle detection to path, automobile navigation or be directed to is determined as recently by ECU Next position on the path of position.Then, in step S 407, vehicle continues executing with autonomous traveling.In a part of embodiment In, autonomous traveling carries out re-synchronization with reference to the position data and navigation information of vehicle.
On the other hand, if vehicle is not detected by the change in path, in step S405, ECU continues executing with autonomous row Sail.
In a part of embodiment, be less than when the current location that detects with the congestion data amount critical quantity position it Between distance be less than critical distance when, vehicle output notice.The notice includes sound notification, vibration informing, text notification and figure As at least one of notice.
Fig. 5 is according to more than one embodiment, it is illustrated that the concept map of the concept component figure of overlapping mass-rent data.
In a part of embodiment, vehicle or server make multiple mass-rent data overlaps and occur navigation information.At one Divide in embodiment, server is from first vehicle receiver the first mass-rent data, from second vehicle receiver the second mass-rent data.Server Make the first mass-rent data and the second mass-rent data overlap and occur navigation information.The navigation information of generation is sent to use by server In the vehicle of autonomous control.In a part of embodiment, vehicle is performed by server and mutually met the tendency of to occur navigation information Turn.
In a part of embodiment, determine as first mass-rent data each traffic coverage to a destination path part The overlapping interval included with the traffic coverage of the second mass-rent data.In this embodiment, server is then from the first mass-rent data The 3rd mass-rent data on overlapping interval are extracted, the 4th mass-rent number on overlapping interval is extracted from the second mass-rent data According to.Server combination the 3rd and the 4th mass-rent data and generate navigation information.
Record exemplary overlapping in Fig. 5 (a) and Fig. 5 (b).As shown in Figure 5A, the first driver 501 and 503 it Between, along path D1 travel, kid between 502 and 504, along path D2 travel, the 3rd driver 501 and 504 it Between, travelled along path D3.Path D3 is covered by path D1 and path D2, the path overlap between 502 and 503.
As shown in Fig. 5 (b), the first vehicle of the first driver collects the running data 505 on path D1, and second drives The second vehicle of member collects the running data 506 on path D2.Data (example：Speed, distance, vehicle driver's action etc.) by The sensor collection of built-in vehicle.Based on the running data on path D1 and the path data on path D2, occur Navigation information 507 on path D3.
Fig. 6 is the pie graph for the vehicle for illustrating more than one embodiment.
In a part of embodiment, hardware system possesses more than one sensor 602,603.Sensor 602,603 has It is ready for use on the sensor for receiving driver's input.In a part of embodiment, sensor includes being used to measure turning to torque, rotation Turn, more than one sensor of the pressing of accelerator pedal and brake pedal.In a part of embodiment, vehicle is also equipped with being used to examine Sensor 602 around surveying.Sensor not only include speed, acceleration, distance-measuring device, in addition to for measure relative to Position, signal lamp and signal, the camera of road barrier of road.In a part of embodiment, sensor 603 includes positioning Device, GPS (Global Positioning Systems, global positioning system) and triangulation system.
Sensor 602, at least one of 603 carries out interface with electronic control unit (hereinafter referred to as ECU) 604 and is connected. ECU possesses computing device.In addition, in a part of embodiment, ECU604 possess such as RAM, ROM, flash memory, one with On hard disk and erasable memory, more than one be used to transmit wirelessly the volatile and nonvolatile dress of the device of data etc. Put.ECU604 controls the motor 606 of vehicle.ECU exemplary composition is described in the figure 7.
In a part of embodiment, hardware 605 utilizes the software for storing, sending data.In a part of embodiment, Metadata built in software, is combined with the method for being wirelessly transmitted to database.
The control device of ECU604 and vehicle carries out interface connection.In a part of embodiment, control device include motor, Servo-drive system, piston and control car speed and the Computer Control Unit in direction.In addition, in a part of embodiment, control Device makes the auxiliary of such as flashlight (blinkers) or siren (horns) in order that other vehicle drivers cause warning Device is helped to operate.
In a part of embodiment, vehicle is also carried by means of the data input device of such as touch-screen to vehicle driver For interface.In a part of embodiment, driver selects destination on data input device.In a part of embodiment, boundary Face also shows the information being adapted to vehicle driver of such as map.
Obtained in the range of part or all of data by means of sensor 602,603 in vehicle operation.Data are deposited It is stored in local storage or external memory storage built in hardware 605.Part or all in the data of acquisition uploads to hardware 605 database.Database analysis data, or metadata will be set in the data.In a part of embodiment, built in database In the server (example that navigation information is provided to vehicle：Server 300 shown in Fig. 1).
In a part of embodiment, circulating ball 607 is in order that worm gear rotates and the power that motor 606 occurs is passed into car Worm gear.Circulating ball is the steering mechanism of old-fashioned vehicle, off-road vehicle and a part of truck.Using circulating ball, vehicle is carried out Rack and little gear are turned to.Circulating ball steering mechanism provides screw hole in block, includes worm gear in bulk inner.The block is The sector shaft (or elevating arc) mobile with making steering arm (Pitman arm) combine and with the circumscribed gear teeth.Deflecting roller with Make the axle connection that worm gear rotates on the inside of block.Bent into block when worm gear replaces and fix and when rotating, moves block, knot Really, while loadwheel is circled round, transmitted and moved to steering arm by gear.
Fig. 7 is according to more than one embodiment, it is illustrated that ECU (the Electronic Control Unit, electricity of built-in vehicle Sub-control unit) pie graph.
It is associated with the embodiment of the present disclosure, the computing device of the memory storage apparatus and processing unit in such as Fig. 7 Embodied in 700 computing device.In a part of embodiment, computing device 700 is an ECU or ECU part.Deposited to embody Reservoir storage device and processing unit, use the suitable combination of hardware, software or firmware.In a part of embodiment, memory Storage device and processing unit are in the combination with computing device 700, and in computing device 700 or other computing devices 718 A certain kind together embodies.The system, device and processor are provided as example, other systems, device and processor Including the memory storage apparatus associated with the embodiment of the present disclosure and processing unit.
In a part of embodiment, computing device 700 controls the operating of vehicle based on the navigation information of reception.Should Computing device collects sensing data in operation according to the navigation information of reception, based on the sensing data of collection, transports Row data.The service data of generation is sent to server by computing device.Computing device receives mass-rent data from server, so Afterwards, based on the mass-rent data of reception, the navigation information of reception is updated.Computing device using the navigation information that updates as Basis, controls the operating of vehicle.
Reference picture 7, the ECU associated with the embodiment of the present disclosure possesses the computing device of such as computing device 700.Basic Composition in, computing device 700 include at least one of processing unit 702 and system storage 704.System storage 704 Including volatile memory (example：RAM (Random Access Memory, random access memory)), nonvolatile memory (ROM (Read-Only Memory, read-only storage)), flash memory or other combinations.System storage 704 includes OS (Operating System, operating system) 705 and more than one programming module 706, including routine data 707.At one Divide in embodiment, OS705 is suitable for controlling the operating of computing device 700.In a part of embodiment, programming module 706 includes Application program 720.Implement in addition, the embodiment of the present disclosure can link with shape library, other OS or other applications, do not limit In special application program system.This composition is illustrated in Fig. 7.
In a part of embodiment, computing device 700 is also equipped with the additional data storage of such as disk, CD or tape Device (erasable and/or non-erasable).Such as erasable storage device 709 of the storage device of this addition and non-erasable deposit Storage device 710, it is illustrated that in Fig. 7.Computer-readable storage medium include be used for store such as computer-readable commands, data structure, Volatile and nonvolatile or erasable embodied in some way or technology of the information of program module or other data and Non- erasable medium.System storage 704, erasable storage device 709 and non-erasable storage device 710 are that computer is deposited The example (that is, memory storage apparatus) of storage media.Computer-readable storage medium possesses RAM, ROM, electricallyerasable ROM (EEROM) (EEPROM), (digital versatile disks, numeral is logical by flash memory or other memory technologies, CD-ROM, DVD With CD) or other optical storages, magnetic tape station, tape, disk storage device or other magnetic memory apparatus, or for storing Information and other media that can be accessed by means of computing device 700, but it is not limited to this.Computing device 700 has such as key The input unit 712 of disk, mouse, pen, acoustic input dephonoprojectoscope, touch input device etc..Be also equipped with such as player, loudspeaker, The output device 714 of printer etc..Described device is example.
In a part of embodiment, computing device 700 also includes communication connection 716, and the communication connection 716 is all On network under such as DCE of Intranet or internet so that computing device 700 leads to other computing devices 718 Letter.Communication connection 716 is an example of communication media.Modulation of the communication media in such as carrier wave or other transmission mechanisms In data-signal, embodied by means of computer-readable commands, data structure, program module or other data, including certain letter Cease Transfer Medium.Term " data-signal of modulation " is censured and sets or become in the way of with being encoded in the signal to information The signal of more than one feature more.As infinite example, communication media includes such as cable network or direct wiring The wire medium of connecting portion, such as sound, RF (radio frequency, radio frequency), infrared ray and other wireless mediums it is wireless Medium.The term " computer-readable medium " used in this specification is all including storage medium and communication media.
Substantial amounts of program module and data file are stored in the system storage 704 including OS705.When in processing unit When being run on 702, program module (example：Application program 720) perform be included in a part of embodiment in detail narration and in accompanying drawing More than one process in the method for middle diagram.The process described in detail is an example.Used according to the embodiment of the present disclosure Other programming modules include Email and contact application program, word-processing application, spreadsheet applications, data Storehouse application program, lantern slide application program, drawing and computer supported application program etc..
Fig. 8 is the pie graph that server is illustrated according to more than one embodiment.
As shown in figure 8, server 800 possesses communication unit 801, storage device 802, control unit 803 and analysis portion 804. In a part of embodiment, server 300 shown in Fig. 1 has to be constituted with the identical of server 800 shown in Fig. 8.
Communication unit 801 is from path request of the vehicle receiver to destination.In addition, communication unit 801 is by mass-rent data or navigation Information is sent to vehicle.
802 store paths of storage device/navigation information.
Based on the routing information stored in storage device 802 navigation information occurs for analysis portion 804.In part implementation In example, routing information is map datum.In addition, the routing information includes the service data collected by multiple vehicles.
In a part of embodiment, control unit 803 retrieves navigation information according to the request from vehicle receiver.Control unit 803 The navigation information retrieved is sent to vehicle, the data collected from multiple vehicles are received.Now, 803 pairs of control unit is received Data are collected to be combined.Control unit 803 extracts the data based on path corresponding with vehicle route, using extraction based on road Mass-rent data occur for the data in footpath.The mass-rent data of generation are sent to more than one vehicle by control unit 803.
In a part of aspect, vehicle (101,102, the 103 of Fig. 1) is in network (example：Internet) on by service data Send or report and give (the example of server 800：Navigation server).In a part of embodiment, vehicle passes through honeycomb (or Wi-Fi) nothing Line node or WAP (the 201 of Fig. 2 or 202) and be connected to network.In a part of embodiment, the fortune collected from vehicle Row data are used to determine the navigation information associated with taking turns manipulation, acceleration and braking.
In a part of aspect, service data is reported to server 800 in real time or quasi real time.In a part of aspect In, service data is stored in vehicle, is finally reported to server 800.In a part of embodiment, vehicle have collected traffic letter During breath, not access network.Therefore, vehicle internally storage device storage running data, finally set up with network when vehicle and are connected When, report service data to server 800.
Fig. 9 is according to more than one embodiment, it is illustrated that control car based on the mass-rent data collected by means of vehicle System pie graph.
In first layer, autonomous driving car is corresponding to Fig. 1 vehicle 101,102 or 103.Sensor belongs to Fig. 6 sensing Device 602,603.Analysis portion corresponds to the data stored in Fig. 6 hardware 605, and vehicle chassis belongs to the MDPS.In the second layer In, central agency belongs to Fig. 8 control unit 803, and data collector/transmitter belongs to Fig. 8 analysis portion 804, data flow (Data Streaming Fig. 8 communication unit 801) is belonged to.In vehicle cloud, sensor belongs to Fig. 6 sensor 602,603, Data Collection Device/transmitter belongs to Fig. 6 hardware 605.The disclosed corresponding relation is the embodiment for being not intended to restriction.
The instruction and application program can be corresponding to a whole set of instruction for performing one function above respectively. This instruction as other software program, program or module without performing.Memory 750 can include additional instruction or Less instruction.In addition, various function of computing device 700 can be in more than one signal transacting and/or application-specific Embodied in hardware and/or software that integrated circuit includes.
Such as " embodiment ", " embodiment ", " all embodiments ", " the present embodiment ", " these embodiments ", " more than one The term of embodiment ", " a part of embodiment " and " one embodiment ", as long as no differently specific performance, then means this Disclosed more than one (but and not all) embodiment.
Term " possessing ", " including ", " having " and its deformation, as long as no differently specific performance, are then meaned " although comprising but not limiting sense ".
The bulleted list enumerated as long as no differently specific performance, then do not imply that in project some or be entirely mutual Exclusive.
Term " one (a, an) " or " (the) " then mean " more than one " as long as no differently specific performance.
The device being in communication with each other is as long as no differently specific performance, then without mutual continuous communiction.In addition, being in communication with each other Device can directly or by more than one medium indirect communication.
Embodiment with some inscapes being in communication with each other, this description does not imply that these inscapes all need to Will.Various selective inscape is described to illustrate the various possible embodiment of the disclosure.
Although in addition, process execution, method execution, algorithm etc. are described successively, this process, method, algorithm can be by Alternate order is performed.Certain order of describable operating, is not meant as the requirement that operating should be performed in the order. The process of this specification description, can be performed by certain practical order.In addition, part operating can be performed simultaneously.
When the single device described in this specification or items, it is thus understood that (no matter whether they are mutual is acted on) one More than individual device/items single device/items can be replaced to use.Similarly, described in this specification (no matter they whether Mutually acted on) more than one device or items when, it is thus understood that more than one device or items can be replaced and be made With single device/items, other multiple device/items can be used with the device or program of alternate figures registration amount.Device Function and/or feature can be by means of being not explicitly described more than one device with this function/feature and differently body It is existing.Therefore, another embodiment of the present disclosure need not include the device in itself.
Step shown in Fig. 2 to Fig. 4 shows certain event occurred in some sequence.In another embodiment, Mou Xiebu Suddenly it can be performed by deformation or other orders removed.Further, step can make an addition to the logic, still can be with retouching The embodiment stated is corresponding.In addition, can occur successively the step of described in this specification, or some steps can and column processing. In addition, step can be performed by means of single-processor or distributed processors.
The content of the various embodiment of the disclosure is in order at the purpose of diagram and description and provided.This is not poor Property to the greatest extent, or be not intended to the disclosure is defined in disclosed accurate form.From the position of purport above, it can carry out all Shape changeable and change.The scope of the present disclosure is not really wanted to be limited by the detailed description, and by this specification attached claims Item is limited.The specification, example and data provide the manufacture constituted to the disclosure and the entire teachings used.Without departing from On the premise of open thought and scope that attached claims item is included, many embodiments of the disclosure can be achieved.

Claims (20)

1. the method for vehicle is controlled based on a kind of data by mass-rent, including：
The vehicle sends the step of covering the request in destination path to server；
The step of server retrieval is with the request corresponding navigation information, wherein, the navigation information is autonomous traveling Navigation information；
The step of navigation information of the retrieval is sent to the vehicle by the server；
The step of vehicle controls the operating of the vehicle based on the navigation information of the transmission；
The step of vehicle collects the service data of the vehicle during being run according to the navigation information of the transmission；
The step of collected data are sent to the server by the vehicle；
The step of server generates mass-rent data based on the collected data sent from multiple vehicles；
The step of vehicle receives the mass-rent data of the generation from the server；
The vehicle is based on the mass-rent data of the reception, the step of updating the navigation information of the transmission；And
The step of vehicle controls the operating of the vehicle based on the navigation information of the renewal.
2. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The vehicle operation data includes the service data for including the information at least one of steering, acceleration and braking.
3. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of transmission request, includes：
The vehicle receives the input on the destination from driver.
4. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of transmission request, includes：
The step of vehicle determines the destination based on the traveling daily record of the vehicle storage.
5. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of transmission request, includes：
The step of collected data are sent to the server by the vehicle according to the set cycle.
6. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of data of described pair of reception are transmitted includes：
The vehicle to the destination during running, when the vehicle detection is to during particular event, by collected number The step of according to the server is sent to.
7. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Collected step includes：
During being run to the destination, the step of collecting the data according to the set cycle.
8. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Collected step includes：
During being run to the destination, when the vehicle detection during particular event to the step of collecting the data.
9. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Collected step includes：
The step of collected data are sent to the server by the vehicle；
The step of server collected from multiple vehicle receivers data；
The server is based on the mass-rent data of the reception, the step of updating the navigation information of the retrieval；
The step of server resends the navigation information of the renewal to the vehicle；And
The step of navigation information resend is applied to the control of the vehicle by the vehicle.
10. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Collected step includes：
The step of vehicle generates sensing data using multiple sensors of the vehicle；
The step of operation control unit of the vehicle collects the sensing data of the generation；And
The operation control unit of the vehicle generates collected data based on collected sensing data Step.
11. the method for vehicle is controlled based on the data according to claim 10 by mass-rent, wherein,
At least one in the multiple sensor detects signal lamp in the operation way of the vehicle, if the signal of the detection Lamp is red light, then stops the vehicle.
12. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of operating of the control vehicle, includes：
The step of controlling at least one of the speed of the vehicle and the steering angle of the vehicle.
13. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of reception mass-rent data, includes：
The server from the first vehicle receiver first collect data the step of；
The server from the second vehicle receiver second collect data the step of；
The server overlapping described first collects the step of data generate the mass-rent data with the described second collection data； And
The vehicle from the server receive the mass-rent data the step of.
14. the method for vehicle is controlled based on the data according to claim 13 by mass-rent, wherein,
Collected data include the information of the traffic coverage generated on collected data,
The step of generation mass-rent data, includes：
Determine as the path to the destination a part and it is described first collect data the traffic coverage and The step of overlapping interval that the traffic coverage of the second collection data is included；
Data, which are collected, from described first extracts the step of collecting data on overlapping interval the 3rd；
Data, which are collected, from described second extracts the step of collecting data on overlapping interval the 4th；And
The step of combining the 3rd collection data and the 4th collection data and generate the mass-rent data.
15. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
The step of navigation information of described pair of transmission is updated includes：
Combine the step of mass-rent data of the reception are with the service data；And
The step of navigation information of the transmission being updated based on the data of the combination.
16. the method for vehicle is controlled based on the data according to claim 11 by mass-rent, wherein, in addition to：
Described in the vehicle detection the step of current location of vehicle；And
When the mass-rent data bulk of the current location on the detection is less than set critical quantity, the vehicle is guided The step of being more than the other positions of the critical quantity to the mass-rent data bulk.
17. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Also include：
Described in the vehicle detection the step of current location of vehicle；And
When distance is less than both between the position of the current location of the detection and the mass-rent data bulk less than set critical quantity When determining critical distance, the step of the vehicle output notice.
18. the method for vehicle is controlled based on the data according to claim 1 by mass-rent, wherein,
Also include：
If the operational mode of the vehicle is altered to driver's control by the vehicle detection to the particular event pre-set The step of molding formula.
19. a kind of vehicle, including：
Communication unit, it will be sent to server to the request to destination path, be received from the server according to the request And the navigation information retrieved；
Sensor, it generates sensing data；And
Control unit, it controls the operating of the vehicle, in leading according to the reception based on the navigation information of the reception Information of navigating is carried out in operation way, using sensing data described in the sensor collection, using collected sensing data as base Plinth generating run data, the server is sent to by the service data of the generation, and mass-rent data are received from the server, Based on the mass-rent data of the reception, the navigation information of the reception is updated, based on the navigation information of the renewal, Control the operating of the vehicle.
20. a kind of server, including：
Communication unit, it is from path request of the vehicle receiver to destination；
Storage part, its store path information；And
Control unit, it retrieves navigation information according to the request of the reception, and the navigation for sending the retrieval to the vehicle is believed Breath, receives the data collected from multiple vehicles including the vehicle, combines the data received respectively from the multiple vehicle, carries The data based on path corresponding with the path of the vehicle are taken, the data based on path of the extraction, generation are utilized The mass-rent data of the generation are sent to the vehicle by mass-rent data.
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